I wouldn't not forgive yourself over not paying attention to them at times. That stuff happens. I've lost many pets and sure, I wish I could have paid more attention to them in certain times, but the fact of the matter is you gave them a great home and someone who loved them even if you sometimes didn't have a minute to spare to pet them.
It's not the years in the life it's the life in the years and it sounds like you gave them a great life overall. If they didn't have you, they could have been on the street or stuck in some terrible shelter situation.
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